Vehicle safety system

ABSTRACT

A vehicle safety system includes a controller in communication with at least one of an imaging system and a ranging system. At least one of the imaging system and the ranging system being arranged to monitor a distance and a speed of a forward vehicle and an incoming vehicle relative to a host vehicle. The controller is programmed to output for display a time left to pass the forward vehicle based on the distance and the speed of the forward vehicle and the incoming vehicle, responsive to indicia of an impending host vehicle maneuver to pass the forward vehicle.

CROSS-REFERENCES TO RELATED APPLICATIONS

This patent application claims priority to U.S. Provisional PatentApplication Ser. No. 62/482,955, filed Apr. 7, 2017, which isincorporated herein by reference in its entirety.

BACKGROUND

Vehicles may be provided with several technologies that allow themonitoring of conditions about a moving vehicle. The technologies mayenable the vehicle to detect the presence of other vehicles andobstacles. The technologies may also alert an operator of the vehicle orperform certain maneuvers in response to other vehicles or obstacles.

SUMMARY

According to an embodiment of the present disclosure, a vehicle safetysystem is provided. The vehicle safety system includes a controller incommunication with at least one of an imaging system and a rangingsystem. At least one of the imaging system and the ranging system beingarranged to monitor a distance and a speed of a forward vehicle and anincoming vehicle relative to a host vehicle. The controller isprogrammed to output for display a time left to pass the forward vehiclebased on the distance and the speed of the forward vehicle and theincoming vehicle, responsive to indicia of an impending host vehiclemaneuver to pass the forward vehicle.

According to another embodiment of the present disclosure, a vehiclesafety system is provided. The vehicle safety system includes a rangingsystem and a controller. The ranging system is arranged to provide asignal indicative of at least one of a first speed of a forward vehicleand a second speed of an incoming vehicle, and a first distance betweenthe forward vehicle and a host vehicle and a second distance between theincoming vehicle and the host vehicle. The controller is incommunication with the ranging system. The controller is programmed tooutput for display, a time left to pass the forward vehicle based on thesignal.

These and other advantages and features will become more apparent fromthe following description taken in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter which is regarded as the invention is particularlypointed out and distinctly claimed in the claims at the conclusion ofthe specification. The foregoing and other features, and advantages ofthe invention are apparent from the following detailed description takenin conjunction with the accompanying drawings in which:

FIG. 1 is a schematic illustration of a host vehicle;

FIG. 2 is an illustration of the host vehicle executing a passingmaneuver;

FIG. 3 is an illustration of a host vehicle traveling proximate avehicle in a lane and an incoming vehicle in an adjacent lane;

FIG. 4 is an illustration of the host vehicle traveling in a lanedetecting the vehicle and the incoming vehicle;

FIG. 5 is an illustration of the host vehicle traveling in a lane and incommunication with the vehicle and the incoming vehicle;

FIG. 6 is an illustration of the host vehicle performing a full steeringassist back to a lane;

FIG. 7 is an illustration of a display interface of the host vehicle;and

FIGS. 8A and 8B are illustrations of a time left the past display.

DETAILED DESCRIPTION

Referring now to the Figures, where the invention will be described withreference to specific embodiments, without limiting same, it is to beunderstood that the disclosed embodiments are merely illustrative of theinvention that may be embodied in various and alternative forms. TheFigures are not necessarily to scale; some features may be exaggeratedor minimized to show details of particular components. Therefore,specific structural and functional details disclosed herein are not tobe interpreted as limiting, but merely as a representative basis forteaching one skilled in the art to variously employ the presentinvention.

Referring to FIG. 1, a host vehicle 10 is provided with a steeringsystem 12, a vehicle safety system 14, and a display interface 16.

The steering system 12 may be a steering actuation system, such as anelectric power steering system, active front steering (AFS), steer bywire (SBW), or hydraulic power steering (HPS). The steering system 12includes an operator input device 20, a steering shaft 22, a steeringactuator 24, and a steering mechanism 26.

The operator input device 20 may be a hand wheel or a steering wheelthat is operably connected to the steering shaft 22. The operator inputdevice 20 is arranged to receive an operator input to steer the hostvehicle 10.

The steering shaft 22 extends between a steering shaft first end and asteering shaft second end. The steering shaft first end is configured toattach to the operator input device 20. The steering shaft second end isconfigured to be operatively connected to the steering actuator 24.

The rotation of the steering shaft 22 may result in actuation of thesteering actuator 24 to operate the steering mechanism 26 that isoperatively connected to a vehicle wheel 30 to pivot or turn the vehiclewheel 30 to steer the host vehicle 10. The steering mechanism 26 may bea rack and pinion steering mechanism or the like.

The steering actuator 24 may be referred to as a “hand wheel actuator.”The steering actuator 24 may include and electric motor or anelectromechanical actuator that may be operatively connected to thesecond end of the steering shaft 22 and/or the steering mechanism 26.The steering actuator 24 may replace a direct mechanical connectionbetween the steering shaft 22 and the steering mechanism 26 that isoperatively connected to a vehicle wheel, such that the steering system12 is a steer by wire steering system.

The steering actuator 24 may be configured to interpret a position ofthe steering shaft 22 and/or the operator input device 20 connected tothe steering shaft and to provide that position as a steering input tothe steering mechanism 26 that is operatively connected to the vehiclewheel 30 to pivot the vehicle wheel 30. The steering actuator 24 isconfigured to provide an input to the steering shaft 22 or operatorinput device 20 to resist or oppose rotation of the operator inputdevice based on inputs received by the vehicle safety system 14.

In at least one embodiment, the host vehicle 10 may be provided with anautonomous driving system (ADS). The ADS 40 operates the host vehicle 10such that the host vehicle 10 is able to perform operations withoutcontinuous input from a driver (e.g. steering, accelerating, braking,maneuvering, turning, etc.), while operating in an autonomous mode. TheADS 40 enables the host vehicle to be at least partially autonomouslycontrolled based on inputs received from the vehicle safety system 14and/or other vehicle systems such that the host vehicle 10 may be anautonomous vehicle, a semi-autonomous vehicle, an autonomously drivenvehicle, or a selectively autonomous vehicle. The other vehicle systemsmay be a global positioning system, a mapping system, a trafficnotification or monitoring system, or the like that may enable the ADS40 to control or guide the host vehicle 10.

An operator of the host vehicle 10 may desire to overtake and pass aforward vehicle 60 within a current lane or a same lane 62 oftraffic/travel as the host vehicle 10 while operating on an undividedhighway. An incoming vehicle 64 in an adjacent lane (e.g. a laneadjacent to the same lane 62 for traffic traveling in the same directionas the host vehicle 10) or an adjacent lane 66 or a lane adjacent to thesame lane 62 for traffic traveling in the opposite direction of the hostvehicle 10 (e.g. opposing lane) may present a hazard that the operatorof the host vehicle 10 may be unaware of, therefore, the vehicle safetysystem 14 is arranged to notify the operator the host vehicle 10 of thepotential hazard of the incoming vehicle 64 during an impending maneuverto overtake and pass the forward vehicle 60. The vehicle safety system14 is also arranged to operate the steering system 12 to return the hostvehicle 10 to the same lane 62 and inhibit the overtaking and passing ofthe forward vehicle 60.

The vehicle safety system 14 includes an imaging system 50, a rangingsystem 52, and a controller 54. The vehicle safety system 14 is incommunication with the steering system 12 and the ADS 40.

The imaging system 50 detects and/or identifies object(s) or othervehicles within the external operating environment of the host vehicle.For example, the imaging system 50 detects and/or identifies the forwardvehicle 60 operating within the same lane 62 of travel as the hostvehicle 10, an object, and/or the incoming vehicle 64 in the adjacentlane 66.

The imaging system 50 includes a sensor that is in communication withthe controller 54 and detects, identifies, and/or determines the stateof the object, the forward vehicle 60, or the incoming vehicle 64. Forexample, a first signal from the sensor that is provided to thecontroller 54, enables the controller 54 to identify the object, theforward vehicle 60, the incoming vehicle 64, or a traffic controldevice, such as a stop sign, traffic light, or the like. The sensor ofthe imaging system 50 may be disposed proximate the front of the hostvehicle 10 and may be forward facing. The sensor of the imaging system50 may be disposed proximate a forward corner of the host vehicle 10.The sensor may be an object sensor, an optical sensor, an opticalcamera, a thermal sensor, a laser device, LiDAR, RADAR, a combination ofthe aforementioned, or a vehicle to vehicle communication system.

The sensor of the imaging system 50 provides data or a first signalindicative of an identity, a state, or relative location of the object,the forward vehicle 60, or the incoming vehicle 64. The first signal mayfor example, include information indicative of whether the object, theforward vehicle 60, or the incoming vehicle 64 is in motion orstationary, the direction of travel of the object, the forward vehicle60, or the incoming vehicle 64, or whether the object is a stop sign, ayield sign, a green light, a yellow light, or a red light (i.e. relatedto traffic control or vehicle control).

In at least one embodiment, the sensor of the imaging system 50 isarranged to determine or identify lane markings or the shape orcurvature of the same lane 62 and/or the adjacent lane 66. In otherembodiments, the controller 54 may be in communication with a GPS systemor navigation system that provides information indicative of the shapeor curvature of the same lane 62 and/or the adjacent lane 66.

The ranging system 52 detects and/or monitors a distance between theobject, the forward vehicle 60, and/or the incoming vehicle 64 and thehost vehicle 10. The ranging system 52 detects and/or monitors a speedof the object, the forward vehicle 60, and/or the incoming vehicle 64 ora change in the distance between the object, the forward vehicle 60,and/or the incoming vehicle 64 and the host vehicle 10.

The ranging system 52 includes a first ranging sensor 70 and/or a secondranging sensor 72, both of which are arranged to provide a second signalindicative of at least one of the speed or velocity of the object, theforward vehicle 60, and/or the incoming vehicle 64 and/or the distancebetween the object, the forward vehicle 60, and/or the incoming vehicle64 and the host vehicle 10.

Additionally or alternatively, the vehicle to vehicle communicationsystem may be used to identify the forward vehicle 60 and/or theincoming vehicle 64 as well as to monitor or determine a velocity of theforward vehicle 60 and/or the incoming vehicle 64 and/or a distancebetween the forward vehicle 60 and/or the incoming vehicle 64 and thehost vehicle 10.

The first ranging sensor 70 may be disposed proximate a front corner 74of the host vehicle 10. The second ranging sensor 72 may be disposedproximate a rear corner 76 of the host vehicle 10. In at least oneembodiment, the second ranging sensor 72 may be disposed forward of arear wheel of the host vehicle 10 such that the second ranging sensor 72may be more forward facing.

The first ranging sensor 70 and/or the second ranging sensor 72 may becorner radar that are arranged to detect the incoming vehicle 64 presentin the adjacent lane 66. As shown in FIG. 4, should the host vehicle 10be within a threshold distance or a predetermined distance of theforward vehicle 60, an operator of the host vehicle 10 may be unable toview the incoming vehicle 64 in the adjacent lane 66, due to the size ofthe forward vehicle 60. The disposing of the first ranging sensor 70and/or the second ranging sensor 72 proximate the corners of the hostvehicle 10 disposes the first ranging sensor 70 and/or the secondranging sensor 72 laterally closer to the lane marker of the road toincrease the range of vision of the vehicle safety system 14, with thefirst ranging sensor 70 having a first field-of-view 80 and the secondranging sensor 72 having a second field-of-view 82 that are able to viewareas that are otherwise blocked from the view of the operator of thehost vehicle 10.

The first field-of-view 80 of the first ranging sensor 70 and the secondfield-of-view 82 of the second ranging sensor 72 improves detectioncapabilities of the vehicle safety system 14 as the distance between thehost vehicle 10 and the forward vehicle 60 decreases or the host vehicle10 becomes larger or wider. The first field-of-view 80 of the firstranging sensor 70 and the second field-of-view 82 of the second rangingsensor 72 also improves the detection capabilities of the ranging system52 during low-light conditions or adverse weather.

The first ranging sensor 70 and/or the second ranging sensor 72 of theranging system 52 may be a ranging sensor, an optical sensor, an opticalcamera, an ultrasonic sensor, a thermal sensor, a capacitive sensor, aninductive sensor, a sonar device, an infrared detector, a laser device,a LiDAR device, a RADAR device, a combination of the aforementioned, ora vehicle to vehicle communication system.

The first ranging sensor 70 and/or the second ranging sensor 72 of theranging system provides data or a signal indicative of the speed orvelocity of the object, the forward vehicle 60, or the incoming vehicle64 or the distance between the object, the forward vehicle 60, or theincoming vehicle 64 and the host vehicle 10 to at least one of thesteering system 12, the ADS 40, and the controller 54. The imagingsystem 50 and the ranging system 52 may work in concert toidentify/classify the object, the forward vehicle 60, or the incomingvehicle 64; to determine a distance between the object, the forwardvehicle 60, or the incoming vehicle 64 and the host vehicle 10; and aspeed or velocity of the object, the forward vehicle 60, or the incomingvehicle 64.

The controller 54 may be provided as a separate and distinct controllerfrom the ADS 40. In at least one embodiment, the ADS 40 and thecontroller 54 may be integrated as a single controller or controlmodule. The controller 54 is provided with input communication channelsthat are arranged to receive signals or data from the sensor of theimaging system 50 and first ranging sensor 70 and/or the second rangingsensor 72 of the ranging system 52. The controller 54 is provided withoutput communication channels that are arranged to provide signals ordata to the display interface 16 to notify an operator of the hostvehicle 10 as to the time to pass the forward vehicle 60 or a warningindicator should an incoming vehicle 64 be present. The outputcommunication channels are also arranged to provide signals or commandsto the steering system 12 to move, pivot, or turn at least one vehiclewheel of the host vehicle 10.

The controller 54 includes at least one processor, microprocessor, orcentral processing unit (CPU) in communication with various types ofcomputer readable storage devices or media. Computer readable storagedevices or media may include volatile and nonvolatile storage inread-only memory (ROM), random-access memory (RAM), and keep-alivememory (KAM), for example. KAM is a persistent or non-volatile memorythat may be used to store various operating variables while the CPU ispowered down. Computer-readable storage devices or media may beimplemented using any of a number of known memory devices such as PROMs(programmable read-only memory), EPROMs (electrically PROM), EEPROMs(electrically erasable PROM), flash memory, or any other electric,magnetic, optical, or combination memory devices capable of storingdata, some of which represent executable instructions, used by thecontroller 54 to provide the signals or commands to the steering system12 and/or the display interface 16.

Referring to FIG. 2, an illustration of the host vehicle 10 attemptingto overtake and pass the forward vehicle 60 is shown. The controller 54of the vehicle safety system 14 is programmed to output for display tothe operator of the host vehicle 10, via the display interface 16, thetime available/time left, T, to overtake and pass a forward vehicle 60and return to the same lane 62 as well as the speed (velocity), Vel, toovertake and pass the forward vehicle 60 to avoid a potential head-onimpact event with the incoming vehicle 64 in the adjacent lane 66 of thehost vehicle 10 based on the distance and the speed or velocity of theforward vehicle 60 and the incoming vehicle 64 relative to the hostvehicle 10.

The controller 54 of the vehicle safety system 14 may perform a seriesof estimations or calculations and is programmed to output for display,via the display interface 16, the time available/time left to overtakeand pass the forward vehicle 60, and the speed or velocity to overtakeand pass the forward vehicle 60 responsive to the indicia of animpending host vehicle maneuver to pass the forward vehicle 60 andreturn to the same lane 62. The indicia of an impending host vehiclemaneuver to pass the forward vehicle 60 may include: a distance betweenthe host vehicle 10 and the forward vehicle 60 becoming less than athreshold distance, a difference in speed or relative velocity betweenthe host vehicle 10 and the forward vehicle 60 being greater than athreshold speed or threshold velocity difference, an increase in speedor velocity of the host vehicle 10 coupled with an overt movement,actuation, or rotation of the operator input device 20 towards a lanemarker of the road or towards the adjacent lane 66, an increase in speedor velocity of the host vehicle 10 coupled with an operator of the hostvehicle 10 activating a turn signal or other directional indicatortowards the lane marker of the road or towards the adjacent lane 66, oran operator of the host vehicle 10 activating a turn signal or otherdirectional indicator towards the lane marker of the road or towards theadjacent lane 66.

The controller 54 of the vehicle safety system 14 is arranged to monitora first distance, D1, and a first speed (velocity), V1, of the forwardvehicle 60 of the host vehicle 10 within the same lane 62 as the hostvehicle 10 using at least one of the imaging system 50 and/or theranging system 52. The first distance, D1, is a relative position or arelative distance between the host vehicle 10 and the forward vehicle60. The first speed (velocity), V1, may be a relative velocity betweenthe host vehicle 10 and the forward vehicle 60 or the actual speed(velocity) of the forward vehicle 60.

The controller 54 of the vehicle safety system 14 is arranged to monitora second distance, D2, and a second speed (velocity), V2, of theincoming vehicle 64 in the adjacent lane 66 to the host vehicle 10 usingat least one of the imaging system 50 and/or the ranging system 52. Thesecond distance, D2, is a relative position or a relative distancebetween the host vehicle 10 and the incoming vehicle 64. The secondspeed (velocity), V2, may be a relative velocity between the hostvehicle 10 and the incoming vehicle 64 or the actual velocity of theincoming vehicle 64.

In at least one embodiment, the vehicle safety system 14 is configuredto detect and/or identify objects within an external operatingenvironment of the host vehicle 10 such as the shape of the road uponwhich the host vehicle 10 is traveling using the imaging system 50and/or a GPS or navigation system. The controller 54 of the vehiclesafety system 14 may then determine a time adjustment, Td, which is timesubtracted for taking a curved path while overtaking and passing theforward vehicle 60.

The controller 54 of the vehicle safety system 14 is arranged todetermine or identify a safe zone or target location disposed betweenthe forward vehicle 60 and the incoming vehicle 64 at a third distance,D3. The third distance, D3, is the distance between the forward vehicle60 and the incoming vehicle 64 that the host vehicle 10 may fit withinafter passing the forward vehicle 60 and returning to the same lane 62.

The controller 54 of the vehicle safety system 14 determines a change indistance, ΔD, which is the distance between the forward vehicle 60 andthe incoming vehicle 64. The change in distance, ΔD, is based on thesecond distance, D2, the first distance, D1, and an estimated length ofthe forward vehicle, LVF.

The controller 54 of the vehicle safety system 14 estimates the timeleft, T, to pass the forward vehicle 60 using the followingrelationship:

Time Left To Pass (T)=(ΔD−D3)/(V1+V2)−Td  [Relationship 1]

The controller 54 of the vehicle safety system 14 estimates thedistance, S, that the host vehicle 10 needs to overtake and pass theforward vehicle 60 using the following relationship:

Distance To Pass (S)=D3/2+V1*T+LVF+D1  [Relationship 2]

The controller 54 of the vehicle safety system 14 then estimates anacceleration of the host vehicle 10 to achieve the velocity, Vel, topass using the following relationship:

Acceleration (a)=(2/T ²)*(D3/2+V1*T+LVF+D1−V0*T)  [Relationship 3]

Where V0 is the current velocity of the host vehicle 10.

The controller 54 of the vehicle safety system 14 then determines thevelocity needed to pass the forward vehicle 60 using the followingrelationship:

Velocity to Pass (Vel)=V0+a*T  [Relationship 4]

The above relationships assume a constant acceleration of the hostvehicle 10, however it is understood that the acceleration of the hostvehicle 10 may vary over time, as will the velocities of the hostvehicle 10 and the other vehicles (e.g. the forward vehicle 60 and theincoming vehicle 64). Therefore, these relationships may be adjusted orderived to account for varying acceleration or varying speeds/velocitiesof the host vehicle 10 and/or the other vehicles.

Referring to FIG. 3, while the host vehicle 10 is motion and the firstdistance, D1, is less than a threshold distance or predetermineddistance from the forward vehicle 60 and within the same lane 62 as thehost vehicle 10, as detected by at least one of the imaging system 50and the ranging system 52 of the vehicle safety system, and at least oneof the imaging system 50 and the raging system 52 does not reliablydetect the incoming vehicle 64 and the adjacent lane 66, the controller54 of the vehicle safety system 14 may inhibit the host vehicle 10 fromperforming a lane change maneuver to overtake and pass the forwardvehicle 60. The controller 54 may operate the steering actuator 24 ofthe steering system 12 to resist rotation or movement of the operatorinput device 20 to oppose a lane change maneuver to overtake and pass ofthe forward vehicle 60. The threshold distance or the predetermineddistance may be based on the road curvature, the size of the forwardvehicle 60, relative or absolute speeds (velocities) of the host vehicle10, the forward vehicle 60, and/or the incoming vehicle 64, and aposition of the host vehicle 10 relative to the forward vehicle 60.

The input provided by the steering actuator 24 may be a rotationalinput, feedback (e.g. haptic feedback or the like), vibratory input, orthe like that may be applied to at least one of the operator inputdevice 20 and/or the steering shaft 22. The input provided by thesteering actuator 24 may resist or oppose actuation or rotation of theoperator input device 20 and/or the steering shaft 22.

The input provided by the steering actuator 24 may be a torque overlaythat provides a steering buzz (haptic feedback) or cause a lane changeintervention opposing actuation or rotation of the operator input device20. The steering buzz may be a high frequency (greater than 20 Hz)sinusoidal torque overlay added to the steering assist that may beprovided by the steering actuator. This action may not lead to a pathchange of the host vehicle 10, but alerts the driver of the host vehicle10 of the imaging system 50 and/or the ranging system 52 being unable todetermine if an incoming vehicle 64 is present within the adjacent lane66. The controller 54 may substantially simultaneously output fordisplay a warning indicator.

The input provided by the steering actuator 24 may be bidirectional andmay be reduced or rollback gradually as the distance (e.g. the firstdistance, D1) between the forward vehicle 60 and the host vehicle 10increases to above a predetermined distance, or becomes within acalibrateable range. The bidirectional resistance enables the vehiclesafety system 14 to impede rotation of the operator input device 20 andthe steering shaft 22 in either direction if the distance between thehost vehicle 10 and the forward vehicle 60 is less than a predetermineddistance.

During right turn scenarios (e.g. right hand lane changes, passing fromthe right and a multilane highway, using the right shoulder to pass orto stop), the bidirectional resistance provided by the steering actuator24 may impede the performance of the right turn by the operator of thehost vehicle 10 until a distance between the host vehicle 10 and theforward vehicle 60 is greater than a threshold distance or apredetermined distance. During left turn scenarios (e.g. left-hand lanechanges, left turns across lanes), the bidirectional resistance mayimpede the performance of the left turn by the operator of the hostvehicle 10 until a distance between the host vehicle 10 and the forwardvehicle 60 is greater than a threshold distance or a predetermineddistance.

Referring to FIG. 5, the host vehicle 10, the forward vehicle 60, andthe incoming vehicle 64 may be in communication with each other throughthe vehicle to vehicle communication system, using a vehicle to vehiclecommunication protocol. The vehicle to vehicle communication system mayfunction as or be at least one of the imaging system 50 and/or theranging system 52 or may be provided along with the at least one of theimaging system 50 and/or the ranging system 52. The vehicle to vehicleprotocol may inform the driver of the forward vehicle 60 and the driverof the host vehicle 10 as to the presence of the incoming vehicle 64.The forward vehicle 60 may provide information (e.g. position, velocity,or distance, of the incoming vehicle 64) to the host vehicle 10 to alertthe driver of the host vehicle 10 of the incoming vehicle 64, via thedisplay interface 16.

In at least one embodiment, the incoming vehicle 64 may provide similarinformation (e.g. position, velocity, or distance, of the incomingvehicle 64) directly to the host vehicle 10 and the forward vehicle 60through the vehicle to vehicle communication system. Should one of thevehicles not be part of the vehicle to vehicle communication system, thehost vehicle 10 may attempt to connect via a vehicle to infrastructurecommunication system. Should the vehicle to infrastructure system not bepresent, a cellular network may be used to provide information about theincoming vehicle 64 to at least one of the host vehicle 10 and theforward vehicle 60.

The steering actuator 24 of the steering system 12 or another actuationdevice may not be operated to provide an input to at least one of thesteering shaft 22 and the operator input device 20, while the hostvehicle 10 is proximate or within a threshold distance or apredetermined distance of a vehicle that is stopped, braking, ordecelerating in front of the host vehicle 10 and within the same lane asthe host vehicle 10, as detected by at least one of the imaging system50 and the ranging system 52 of the vehicle safety system 14. Theoperator of the host vehicle 10 may provide an input via the operatorinput device 20 to avoid the vehicle.

The imaging system 50 of the vehicle safety system 14 may be arranged toread the road signs and lane markings of the road upon which the hostvehicle 10 is traveling. The imaging system 50 may read the road signsand the lane markings prior to the host vehicle 10 performing a pass ofthe forward vehicle 60. The information concerning the road signs orlane markings may be fused by the controller 54 with informationprovided by the ranging system 52 of the vehicle safety system 14 toincrease the confidence of the vehicle safety system 14 about thedriving scenario and allow for more decisive steering action to takeplace.

The input provided by the steering actuator 24 to the steering shaft 22and/or the operator input device 20 provides a greater resistance tooppose actuation or rotation of the operator input device 20, based oninformation provided by the imaging system 50 indicative of the roadsigns or lane markings and a detected incoming vehicle 64. The inputprovided by the steering actuator 24 to the steering shaft 22 and/or theoperator input device 20 may provide a reduced resistance or may notoppose the actuation or rotation of the operator input device 20 tochange lanes, based on information provided by the imaging system 50indicative of the road signs or lane markings, without the rangingsystem 52 detecting an incoming vehicle 64. The input provided by thesteering actuator 24 to the steering shaft 22 and/or the operator inputdevice 20 may gently nudge or rotate the operator input device 20 backtowards the center of the same lane 62, based on information provided bythe imaging system 50 and/or the ranging system 52 indicative of anon-preferred lane change.

Referring to FIG. 6, responsive to the host vehicle 10 executing apassing maneuver in which the host vehicle 10 moves between the samelane 62 and the adjacent lane 66 to pass the forward vehicle 60, and atleast one of the imaging system 50 and/or the ranging system 52 of thevehicle safety system 14 detects an incoming vehicle 64 within the safezone or target location forward of the forward vehicle 60 (e.g. D3), thecontroller 54 or the ADS 40 operates the steering actuator 24 of thesteering system 12 to perform a lane change intervention. The lanechange intervention uses the steering actuator 24 to operate thesteering system 12 to move the host vehicle 10 back to the original lane(e.g. same lane 62) or abort the passing maneuver. The controller 54 maycompare an estimation of both time to pass the forward vehicle 60 and atime to impact between the host vehicle 10 and incoming vehicle 64 tomake a decision if the steering actuator 24 should be operated to returnthe host vehicle 10 to the original lane.

The lane change intervention may be a torque overlay applied in theopposite direction of the steering assist provided by the steeringactuator 24. The maximum magnitude of the torque overlay may be based onvarious factors such as obstacle detection confidence, rate of change oflane deviation, velocity and/or position of the incoming vehicle 64, orvelocity and/or position of the forward vehicle 60.

Referring to FIGS. 7, 8A, and 8B, the display interface 16 may be ahuman machine interface, such as a heads up display, an infotainmentscreen, or other form of interface that is arranged to displayinformation to the operator of the host vehicle 10. Information that maybe displayed via the display interface 16 may include: the time left topass, T; the speed (velocity) to pass, Vel; a predicted passing route90; the relative distance, D1, between the host vehicle 10 and theforward vehicle 60; the relative distance, D2, between the host vehicle10 and the incoming vehicle 64; and/or the distance, ΔD, between thefront of the forward vehicle 60 and the front of the incoming vehicle64.

The controller 54 is programmed to output for display, the time left topass, T, via the display interface 16 in a variety of ways. The timeleft to pass may be displayed as a numerical countdown accompanied witha shortening bar, as shown in FIG. 8A. The time left to pass may bedisplayed as a numerical countdown accompanied with an arrow endindicative of a predicted passing route 90, as shown in FIG. 8B. Thedisplay interface 16 may provide an auditory output announcing the timeleft to pass the forward vehicle 60. Additional ways of displaying thetime left to pass are also contemplated.

The display interface 16 may not display the time left to pass when theincoming vehicle 64 is not detected by at least one of the imagingsystem 50 and/or the ranging system 52. The controller 54 is programmedto output for display, via the display interface 16, a warning 92indicative of an unsafe condition for passing the forward vehicle 60.The warning 92 may be a visual indicator, an auditory indicator, orhaptic feedback, responsive to the incoming vehicle 64 being within orproximate the target location.

While the invention has been described in detail in connection with onlya limited number of embodiments, it should be readily understood thatthe invention is not limited to such disclosed embodiments. Rather, theinvention can be modified to incorporate any number of variations,alterations, substitutions or equivalent arrangements not heretoforedescribed, but which are commensurate with the spirit and scope of theinvention. Additionally, while various embodiments of the invention havebeen described, it is to be understood that aspects of the invention mayinclude only some of the described embodiments. Accordingly, theinvention is not to be seen as limited by the foregoing description.

Having thus described the invention, it is claimed:
 1. A vehicle safetysystem, comprising: a controller in communication with at least one ofan imaging system and a ranging system, at least one of the imagingsystem and the ranging system being arranged to monitor a distance andspeed of a forward vehicle and an incoming vehicle relative to a hostvehicle, the controller being programmed to output for display a timeleft to pass the forward vehicle based on the distance and the speed ofthe forward vehicle and the incoming vehicle, responsive to indicia ofan impending host vehicle maneuver to pass the forward vehicle.
 2. Thevehicle safety system of claim 1, wherein the time left to pass theforward vehicle is output for display via a display interface.
 3. Thevehicle safety system of claim 2, wherein the controller is programmedto output for display a predicted passing route.
 4. The vehicle safetysystem of claim 1, wherein the indicia of an impending host vehiclemaneuver to pass the forward vehicle includes a distance between thehost vehicle and the forward vehicle becoming less than a thresholddistance.
 5. The vehicle safety system of claim 1, wherein the indiciaof an impending host vehicle maneuver to pass the forward vehicleincludes a difference in relative velocity between the host vehicle andthe forward vehicle being greater than a threshold velocity difference.6. The vehicle safety system of claim 1, wherein the forward vehicle isoperating in a same lane of travel as the host vehicle.
 7. The vehiclesafety system of claim 6, wherein the incoming vehicle is operating inan adjacent lane of travel.
 8. The vehicle safety system of claim 7,wherein the controller is in communication with a steering system havinga steering actuator that is operatively connected to an operator inputdevice.
 9. The vehicle safety system of claim 8, wherein the controlleris programmed to operate the steering actuator to provide an inputopposing rotation of the operator input device, responsive to the hostvehicle being within a predetermined distance from the forward vehicle.10. The vehicle safety system of claim 8, wherein the controller isprogrammed to operate the steering system to return the host vehicle tothe same lane, responsive to the host vehicle moving from same lane tothe adjacent lane and at least one of the imaging system and the rangingsystem detecting the incoming vehicle within a target location forwardof the forward vehicle.
 11. A vehicle safety system, comprising: aranging system arranged to provide a signal indicative of at least oneof a first speed of a forward vehicle and a second speed of an incomingvehicle, and a first distance between the forward vehicle and a hostvehicle and a second distance between the incoming vehicle and the hostvehicle; and a controller in communication with the ranging system, thecontroller being programmed to output for display, a time left to passthe forward vehicle based on the signal.
 12. The vehicle safety systemof claim 11, wherein the ranging system includes a ranging sensordisposed proximate a front corner of the host vehicle.
 13. The vehiclesafety system of claim 11, wherein the ranging system is a vehicle tovehicle communication system.
 14. The vehicle safety system of claim 11,wherein the controller is programmed to identify a target locationdisposed between the forward vehicle and the incoming vehicle.
 15. Thevehicle safety system of claim 14, wherein the controller is programmedto output for display a warning, responsive to the incoming vehiclebeing proximate the target location.
 16. The vehicle safety system ofclaim 14, wherein the controller is programmed to determine a change indistance between the forward vehicle and the incoming vehicle based onthe second distance, the first distance, and an estimated length of theforward vehicle.
 17. The vehicle safety system of claim 16, wherein thetime left to pass the forward vehicle is further based on the change indistance.
 18. The vehicle safety system of claim 16, wherein thecontroller is programmed to output for display a velocity to pass theforward vehicle based on at least one of the signal, the targetlocation, the change in distance, a velocity of the host vehicle, thetime to pass, and the time left to pass the forward vehicle.
 19. Thevehicle safety system of claim 11, wherein the controller is incommunication with a steering actuator of a steering system.
 20. Thevehicle safety system of claim 19, wherein the controller is programmedto operate the steering actuator to provide feedback to an operatorinput device responsive to the first distance being less than apredetermined distance.